Dual-functional radar-communication (DFRC) signal design has received much attention lately. We consider the scenario of one-bit massive multi-input multi-output (MIMO) wherein one-bit DACs are employed for the sake of saving hardware costs. Specifically, a spatial Sigma-Delta $(\Sigma\Delta)$ modulation scheme is proposed for one-bit MIMO-DFRC waveform design. Unlike the existing approaches which require large-scale binary optimization, the proposed scheme performs $\Sigma\Delta$ modulation on a continuous-valued DFRC signal. The subsequent waveform design is formulated as a constrained least square problem, which can be efficiently solved. Moreover, we leverage quantization noise for radar probing purposes, rather than treating it as unwanted noise. Numerical results demonstrate that the proposed scheme performs well in both radar probing and downlink precoding.